version: 66.13
glider: 402
mission: 2
dive: 7
start: 5 23 117 23 15 38
data:
$ID,402
$MISSION,2
$DIVE,7
$N_DIVES,30
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,190
$D_ABORT,210
$D_NO_BLEED,210
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,79
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,60
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,72302
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0060000001
$HD_B,0.0143
$HD_C,2.4999001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,520
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,495
$PITCH_MAX,3900
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,55
$C_ROLL_DIVE,2278
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,50
$VBD_MAX,4045
$C_VBD,2627
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,20
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.895668
$PRESSURE_SLOPE,3.3081022e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044041616
$SEABIRD_T_H,0.00063614739
$SEABIRD_T_I,2.4510882e-05
$SEABIRD_T_J,2.9009848e-06
$SEABIRD_C_G,-9.6809101
$SEABIRD_C_H,1.1416712
$SEABIRD_C_I,-0.0016510745
$SEABIRD_C_J,0.00019793682
$SEABIRD_C_Z,2915.98
$GPS1,230517,230546,4743.1748,-12225.5322,8,1.0,8,16.3,0.0,0.0,9,320.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-41.0
$GPS2,230517,231424,4743.0171,-12225.5391,15,1.0,15,16.3,0.0,0.0,9,172.9
$SPEED_LIMITS,0.080,0.234
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.127895,0.195936
$KALMAN_X,-2218.649170,-491.805389,-106.458748,1551.098267,-503.133301
$KALMAN_Y,-3425.151123,-910.049011,-124.576347,4103.733887,-724.385315
$MHEAD_RNG_PITCHd_Wd,16.8,2040,-15.9,-8.017,-18.91,3692
$D_GRID,191
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.49,-195.5,513,2272,2016,744,0.0,0.0,0,16,6.90,0.00,0.00,0.000,2049,0.125,0.000,1092,2272,2017,2017,728,0,0,0,0,0,0,26.49,28.83,28.83,10.76,45.43
$GC,17,-1.49,-195.5,1093,2272,2017,728,1.0,0.0,1,42,9.85,3.38,-6.00,0.000,18948,0.074,1.268,2014,1084,2861,2861,830,0,0,0,0,0,0,26.17,24.93,26.25,10.76,46.10
$GC,108,-1.49,-195.5,2014,1084,2863,830,7.1,-11.6,21,115,0.00,3.10,0.00,0.000,1030,0.000,0.040,2014,2279,2864,2864,773,0,0,0,0,0,0,26.22,26.12,26.25,10.92,45.94
$GC,149,-1.49,-195.5,2014,2279,2863,773,10.9,-8.7,30,155,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2279,2864,2864,765,0,0,0,0,0,0,26.50,26.51,26.51,10.91,45.66
$GC,189,-1.49,-195.5,2014,2279,2864,765,14.6,-9.2,39,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2279,2865,2865,759,0,0,0,0,0,0,26.55,26.56,26.55,10.91,44.68
$GC,229,-1.49,-195.5,2014,2280,2865,759,18.4,-9.8,48,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2279,2865,2865,755,0,0,0,0,0,0,26.58,26.60,26.60,10.90,44.64
$GC,269,-1.49,-195.5,2014,2279,2866,755,22.3,-9.7,57,275,0.00,3.17,0.00,0.000,516,0.000,0.059,2015,1087,2866,2866,755,0,0,0,0,0,0,26.62,26.25,26.63,10.90,45.35
$GC,345,-1.49,-195.5,2013,1087,2868,755,30.8,-13.0,75,352,0.00,3.00,0.00,0.000,1030,0.000,0.040,2014,2268,2868,2868,748,0,0,0,0,0,0,26.44,26.34,26.48,10.89,44.88
$GC,386,-1.49,-195.5,2014,2268,2869,748,35.4,-10.8,84,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2268,2869,2869,746,0,0,0,0,0,0,26.70,26.71,26.71,10.89,44.76
$GC,426,-1.49,-195.5,2014,2268,2870,746,39.8,-10.8,93,433,0.00,3.38,0.00,0.000,260,0.000,0.081,2014,3478,2870,2870,750,0,0,0,0,0,0,26.72,26.32,26.74,10.89,45.07
$GC,491,-1.49,-195.5,2014,3479,2870,750,47.3,-12.2,108,498,0.00,3.05,0.00,0.000,1030,0.000,0.036,2015,2274,2871,2871,746,0,0,0,0,0,0,26.55,26.48,26.58,10.89,44.48
$GC,532,-1.49,-195.5,2013,2275,2872,746,51.5,-9.3,117,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2274,2872,2872,745,0,0,0,0,0,0,26.77,26.79,26.78,10.88,44.40
$GC,572,-1.49,-195.5,2014,2274,2872,745,55.1,-9.1,126,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2274,2872,2872,745,0,0,0,0,0,0,26.79,26.81,26.80,10.89,44.88
$GC,611,-1.49,-195.5,2014,2274,2873,745,58.7,-8.9,135,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2274,2873,2873,745,0,0,0,0,0,0,26.81,26.83,26.82,10.89,44.21
$GC,651,-1.49,-195.5,2014,2274,2873,745,62.0,-8.5,144,658,0.00,3.15,0.00,0.000,516,0.000,0.062,2014,1085,2873,2873,749,0,0,0,0,0,0,26.82,26.44,26.84,10.88,44.92
$GC,712,-1.49,-195.5,2013,1085,2875,749,68.2,-10.8,158,719,0.00,3.00,0.00,0.000,1030,0.000,0.041,2014,2269,2875,2875,746,0,0,0,0,0,0,26.62,26.51,26.65,10.88,44.99
$GC,753,-1.49,-195.5,2014,2269,2876,746,72.5,-10.5,167,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2876,2876,746,0,0,0,0,0,0,26.86,26.87,26.87,10.88,44.76
$GC,793,-1.49,-195.5,2014,2270,2877,746,76.7,-10.5,176,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2269,2877,2877,746,0,0,0,0,0,0,26.87,26.89,26.88,10.87,45.11
$GC,833,-1.49,-195.5,2014,2270,2877,746,80.9,-10.7,185,840,0.00,3.12,0.00,0.000,516,0.000,0.060,2014,1086,2877,2877,749,0,0,0,0,0,0,26.89,26.50,26.90,10.88,44.92
$GC,990,-1.49,-195.5,2014,1086,2881,749,99.1,-11.6,223,997,0.00,2.97,0.00,0.000,1030,0.000,0.039,2015,2267,2881,2881,733,0,0,0,0,0,0,26.70,26.59,26.73,10.88,45.07
$GC,1031,-1.49,-195.5,2014,2267,2881,733,103.5,-10.4,232,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2267,2882,2882,736,0,0,0,0,0,0,26.94,26.96,26.95,10.88,45.19
$GC,1071,-1.49,-195.5,2014,2267,2882,736,107.4,-10.3,241,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2882,2882,739,0,0,0,0,0,0,26.95,26.96,26.96,10.88,44.80
$GC,1110,-1.49,-195.5,2014,2267,2883,739,111.4,-10.3,250,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2883,2883,741,0,0,0,0,0,0,26.96,26.97,26.97,10.88,45.70
$GC,1150,-1.49,-195.5,2014,2267,2884,741,115.6,-11.0,259,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2884,2884,743,0,0,0,0,0,0,26.96,26.98,26.98,10.88,45.58
$GC,1190,-1.49,-195.5,2014,2267,2884,743,120.6,-13.1,268,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2885,2885,744,0,0,0,0,0,0,26.97,26.99,26.98,10.88,45.11
$GC,1229,-1.49,-195.5,2013,2268,2886,744,124.2,-8.8,277,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2886,2886,745,0,0,0,0,0,0,26.98,26.99,26.99,10.88,44.76
$GC,1269,-1.49,-195.5,2014,2268,2886,745,128.8,-11.3,286,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2267,2888,2888,746,0,0,0,0,0,0,26.98,27.01,27.00,10.87,45.15
$GC,1309,-1.49,-195.5,2014,2267,2888,746,133.7,-11.3,295,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2886,2886,747,0,0,0,0,0,0,26.99,27.01,27.01,10.87,45.74
$GC,1349,-1.49,-195.5,2014,2267,2889,747,138.9,-13.3,304,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2889,2889,747,0,0,0,0,0,0,27.00,27.01,27.01,10.87,45.55
$GC,1389,-1.49,-195.5,2014,2267,2889,747,144.4,-13.5,313,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2267,2890,2890,748,0,0,0,0,0,0,27.01,27.03,27.02,10.88,44.88
$GC,1429,-1.49,-195.5,2013,2267,2891,748,148.8,-10.8,322,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2891,2891,748,0,0,0,0,0,0,27.01,27.03,27.03,10.88,45.23
$GC,1469,-1.49,-195.5,2014,2267,2891,748,153.2,-11.3,331,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2266,2892,2892,749,0,0,0,0,0,0,27.02,27.04,27.03,10.87,45.27
$GC,1509,-1.49,-195.5,2014,2267,2892,749,157.5,-10.6,340,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2267,2893,2893,749,0,0,0,0,0,0,27.03,27.04,27.04,10.88,45.23
$GC,1548,-1.49,-195.5,2014,2267,2893,749,161.8,-10.5,349,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2266,2894,2894,750,0,0,0,0,0,0,27.03,27.05,27.04,10.88,45.70
$GC,1588,-1.49,-195.5,2014,2267,2895,750,165.7,-9.4,358,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2894,2894,750,0,0,0,0,0,0,27.04,27.05,27.05,10.88,44.92
$GC,1628,-1.49,-195.5,2014,2267,2896,750,169.5,-9.4,367,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2895,2895,750,0,0,0,0,0,0,27.04,27.06,27.05,10.88,45.55
$GC,1668,-1.49,-195.5,2013,2267,2897,750,173.5,-9.7,376,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2896,2896,750,0,0,0,0,0,0,27.05,27.07,27.06,10.88,45.39
$GC,1708,-1.49,-195.5,2014,2267,2897,750,177.5,-10.5,385,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2267,2898,2898,749,0,0,0,0,0,0,27.05,27.07,27.06,10.88,45.62
$GC,1748,-1.49,-195.5,2013,2267,2898,749,181.7,-12.8,394,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2899,2899,751,0,0,0,0,0,0,27.06,27.08,27.08,10.88,45.55
$GC,1787,-1.49,-195.5,2014,2267,2899,751,185.7,-8.5,403,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2267,2899,2899,751,0,0,0,0,0,0,27.06,27.08,27.08,10.88,45.35
$GC,1827,-1.49,-195.5,2014,2267,2900,751,188.3,-6.9,412,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2267,2900,2900,751,0,0,0,0,0,0,27.07,27.08,27.08,10.88,45.66
$STATE,1850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1850,begin apogee
$GC,1854,-0.38,0.0,2014,2232,2901,749,190.1,-7.3,417,1878,3.70,0.00,15.40,2.261,10244,0.083,0.000,2367,2232,2626,2626,4095,0,0,0,0,0,0,26.70,25.71,24.13,10.88,45.35
$STATE,1879,end apogee,CONTROL_FINISHED_OK
$STATE,1879,begin climb
$GC,1880,1.49,195.5,2367,2232,2626,4095,191.2,0.0,421,1905,6.07,0.00,13.40,2.193,11270,0.052,0.000,2958,2233,2398,2398,4095,0,0,0,0,0,0,26.02,26.21,23.63,10.83,45.55
$GC,1939,1.49,195.5,2958,2232,2397,4095,186.4,11.2,433,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2232,2397,2397,790,0,0,0,0,0,0,26.00,26.02,26.01,10.78,45.47
$GC,1978,1.49,195.5,2958,2232,2396,790,181.6,11.9,442,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2232,2396,2396,767,0,0,0,0,0,0,26.17,26.17,26.17,10.79,45.66
$GC,2018,1.49,195.5,2958,2232,2395,767,176.5,12.9,451,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2232,2395,2395,751,0,0,0,0,0,0,26.27,26.29,26.28,10.79,45.07
$GC,2058,1.49,195.5,2958,2232,2394,751,171.5,12.8,460,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2232,2394,2394,738,0,0,0,0,0,0,26.35,26.36,26.36,10.79,45.03
$GC,2098,1.49,195.5,2958,2232,2393,738,166.7,12.8,469,2105,0.00,3.25,0.00,0.000,516,0.000,0.063,2959,1039,2392,2392,730,0,0,0,0,0,0,26.41,26.06,26.43,10.78,45.58
$GC,2131,1.49,195.5,2958,1039,2391,730,162.5,12.8,476,2138,0.00,3.05,0.00,0.000,1030,0.000,0.037,2959,2231,2392,2392,723,0,0,0,0,0,0,26.25,26.15,26.27,10.78,44.99
$GC,2172,1.49,195.5,2958,2231,2391,723,156.9,13.4,485,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2231,2391,2391,714,0,0,0,0,0,0,26.51,26.52,26.52,10.78,45.51
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$STATE,3664,end climb,SURFACE_DEPTH_REACHED
$STATE,3664,begin surface coast
$FINISH,0.1,1.019976
$STATE,3693,end surface coast,CONTROL_FINISHED_OK
$STATE,3693,begin surface
$SM_CCo,3727,15.55,0.562,0,0,2017,520.31
$SM_GC,2.07,24.50,3.20,15.55,0.039,0.041,0.562,501,2280,2017,-6.23,-0.82,520.31,0,0,0,0,0,0,26.74,26.72,25.86
$IRIDIUM_FIX,4808.40,-12337.82,230517,230658
$TT8_MAMPS,0.021721,0.109354
$HUMID,46.37
$INTERNAL_PRESSURE,10.6449
$TCM_TEMP,10.80
$XPDR_PINGS,3
$24V_AH,23.63,5.465
$10V_AH,10.58,2.776
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,51.025,62.900,28.800,15.550,0.000,29.545,17.393,372.010,0.750,0.000,22.301,1953.626,222.206,392.869,1650.143,59.520,33.449,1116.177,0.000,1185.898,0.000,0.545,0.000
$DEVICE_MAMPS,124.695,1268.370,2261.340,561.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313152
$DATA_FILE_SIZE,31149,828
$CAP_FILE_SIZE,114508,0
$CFSIZE,1024409600,1019953152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240517,001841,4743.294,-12225.300,7,0.9,7,16.3,0.0,209.6,7,114.3